Sheathes for surgical instruments, and related devices and methods

ABSTRACT

A sheath for a surgical instrument may include a sleeve having a distal end and proximal end, and a retention mechanism at a proximal end portion of the sleeve. The retention mechanism may comprise a sleeve attachment portion configured to be attached to the sleeve at the proximal end portion, and a locking collar extending from the sleeve attachment portion, wherein the locking collar is configured to receive a connector portion of a surgical instrument. The locking collar further may include a locking feature movable between a first configuration, in which the sheath is moveable relative to the surgical instrument, and a second configuration, in which the locking feature is configured to engage with the connector portion to retain the sheath in position on the surgical instrument.

RELATED APPLICATIONS

This patent application claims priority to and the benefit of the filingdate of U.S. Provisional Patent Application 62/276,471, entitled“SHEATHS FOR SURGICAL INSTRUMENTS, AND RELATED DEVICES AND METHODS”filed Jan. 8, 2016, which is incorporated by reference herein in itsentirety.

TECHNICAL FIELD

Aspects of the present disclosure relate to protective sheaths for usewith surgical instruments, and related devices and methods.

INTRODUCTION

Remotely controlled surgical instruments, which can include teleoperatedsurgical instruments (e.g., surgical instruments operated at least inpart with computer assistance, such as instruments operated with robotictechnology) as well as manually operated (e.g., laparoscopic,thorascopic) surgical instruments, are often used in minimally invasivemedical procedures. During such procedures, a surgical instrument, whichmay extend through a cannula inserted into a patient's body, can beremotely manipulated to perform a procedure at a surgical site. Forexample, in a teleoperated surgical system (e.g., robotic surgicalsystem), cannulas and surgical instruments can be mounted at manipulatorarms of a patient side cart and may be remotely manipulated viateleoperation at a surgeon console.

The instruments employed during such procedures may be complexmechanical devices having many separate components (e.g., cables andmechanical members, such as joint and link structures. Accordingly, toreduce cost, it is desirable for the instruments to be reusable.However, reuse of a surgical instrument generally requires stringentcleaning and sterilization procedures that are made more difficult bythe large number of small components and tight intervening spaces withinsuch instruments.

To facilitate cleaning procedures for minimally invasive surgicalinstruments and/or reduce the cost per use of such instruments, sheathshave been used to cover the instrument shaft during use. It isdesirable, however, to facilitate the installation and removal ofsheaths on an instrument by surgical personnel. Further, it is desirableto provide sheaths that are relatively inexpensive to make, whileproviding robust attachment to the instruments to prevent accidentalremoval and/or repositioning relative to the instrument during use.

SUMMARY

Exemplary embodiments of the present disclosure may solve one or moreproblems and/or may demonstrate one or more desirable features, whichwill become apparent from the description that follows.

In accordance with various exemplary embodiments, a sheath for asurgical instrument may include a sleeve having a distal end andproximal end, and a retention mechanism at a proximal end portion of thesleeve. The retention mechanism may comprise a sleeve attachment portionconfigured to be attached to the sleeve at the proximal end portion, anda locking collar extending from the sleeve attachment portion, whereinthe locking collar is configured to receive a connector portion of asurgical instrument. The locking collar further may include a lockingfeature movable between a first configuration, in which the sheath ismoveable relative to the surgical instrument, and a secondconfiguration, in which the locking feature is configured to engage withthe connector portion to retain the sheath in position on the surgicalinstrument.

In accordance with further exemplary embodiments, a surgical instrumentsheath assembly may include a surgical instrument comprising a shaft anda sheath connector portion, the shaft having a distal end configured tobe introduced to a remote surgical site; a sheath sleeve configured toat least partially cover a shaft of a surgical instrument; and a sheathsleeve retention mechanism disposed at a proximal end portion of thesheath sleeve. At least one of the sheath sleeve retention mechanism andthe sheath connector portion can include a movable locking feature, themovable locking feature having a first configuration allowing the sheathto be moved relative to the instrument and a second configurationengageably locking the sheath to the connector portion to retain thesheath sleeve in position to at least partially cover the instrumentshaft.

In yet other exemplary embodiments, a method of assembling a protectivesheath to a surgical instrument may include advancing the protectivesheath over a distal working end of a surgical instrument shaft to arelatively proximally disposed sheath connector portion of the surgicalinstrument; moving a retention mechanism of the sheath into alignmentwith the sheath connector portion; and moving a moveable locking featurefrom a first configuration permitting the retention mechanism to bemoved relative to the sheath connector portion to a second configurationin which complementary engagement features on the retention mechanismand the sheath connector portion are lockably engaged to retain thesheath in position on the instrument.

In further exemplary embodiments, a method of removing a protectivesheath from a shaft of a surgical instrument may include applying alaterally inwardly directed force to a proximal end portion of retentionmechanism to deform the proximal end portion from a first configurationto a second configuration, wherein in the first configuration, theretention mechanism is engaged with a connector portion of theinstrument to retain a position of the sheath on the instrument, and inthe second configuration retention mechanism is disengaged from theconnector portion and the sheath is movable relative to the instrument.The method may further include moving the retention mechanism distallyaway from the connector portion to remove the sheath while the retentionmechanism is in the second configuration.

Additional objects, features, and/or advantages will be set forth inpart in the description which follows, and in part will be obvious fromthe description, or may be learned by practice of the present disclosureand/or claims. At least some of these objects and advantages may berealized and attained by the elements and combinations particularlypointed out in the appended claims.

Both the foregoing general description and the following detaileddescription are exemplary and explanatory only and are not restrictiveof the claims; rather the claims should be entitled to their fullbreadth of scope, including equivalents.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure can be understood from the following detaileddescription, either alone or together with the accompanying drawings.The drawings are included to provide a further understanding of thepresent disclosure, and are incorporated in and constitute a part ofthis specification. The drawings illustrate one or more exemplaryembodiments of the present teachings and together with the descriptionserve to explain certain principles and operation.

FIG. 1 is a perspective view of a patient side cart of a teleoperatedsurgical system, according to an exemplary embodiment.

FIG. 2 is a perspective, diagrammatic view of a surgical instrument foruse with the teleoperated surgical system of FIG. 1, according to anexemplary embodiment.

FIG. 3 is a perspective, diagrammatic view of a surgical instrumentsheath according to an exemplary embodiment.

FIG. 4A is a perspective view of a sheath retainer body and a sheathconnector portion of a surgical instrument in an unassembledconfiguration, according to an exemplary embodiment.

FIG. 4B is a perspective view of the sheath retainer body and sheathconnector portion of FIG. 4A in an assembled configuration.

FIG. 5 is a perspective view of a sheath retainer body and a sheathconnector portion of a surgical instrument according to anotherexemplary embodiment.

FIG. 6 is a perspective view of a sheath retainer body and a sheathconnector portion of a surgical instrument according to yet anotherexemplary embodiment.

FIG. 7A is a top and side perspective view of a sheath retainer bodyaccording to another exemplary embodiment.

FIG. 7B is a bottom and side perspective view of a sheath retainer bodyaccording to the embodiment of FIG. 7A.

FIG. 7C is a detailed, partial perspective view of a surgical instrumentaccording to another exemplary embodiment.

FIG. 7D is a perspective view of the sheath retainer body of FIGS. 7Aand 7B in an assembled configuration on the surgical instrument of FIG.7C.

FIG. 8A is a perspective view a sheath and sheath retainer body in anunassembled configuration according to another exemplary embodiment.

FIG. 8B is a perspective view of the sheath and retainer body accordingto the embodiment of FIG. 8A in a partially assembled configuration.

FIG. 8C is a perspective view of the sheath and retainer body of FIGS.8A and 8B in a fully assembled configuration.

FIG. 9A is a perspective view of a sheath on an instrument shaftaccording to yet another exemplary embodiment.

FIG. 9B is a cross-sectional view of the sheath of FIG. 9A and a sheathconnection device of a surgical instrument according to an exemplaryembodiment.

FIG. 9C is a cross-sectional view of the sheath and sheath connectiondevice according to the embodiment of FIGS. 9A and 9B.

FIG. 9D is a cross-sectional view of the sheath and sheath connectiondevice according to the embodiment of FIGS. 9A through 9C.

FIG. 10A is a perspective view of a sheath and an instrument accordingto another exemplary embodiment.

FIG. 10B is a perspective view of the sheath and instrument of FIG. 10Ain an assembled configuration.

DETAILED DESCRIPTION

This description and the accompanying drawings that illustrate exemplaryembodiments should not be taken as limiting. Various mechanical,compositional, structural, electrical, and operational changes may bemade without departing from the scope of this description and theclaims, including equivalents. In some instances, well-known structuresand techniques have not been shown or described in detail so as not toobscure the disclosure. Like numbers in two or more figures representthe same or similar elements. Furthermore, elements and their associatedfeatures that are described in detail with reference to one embodimentmay, whenever practical, be included in other embodiments in which theyare not specifically shown or described. For example, if an element isdescribed in detail with reference to one embodiment and is notdescribed with reference to a second embodiment, the element maynevertheless be claimed as included in the second embodiment.

For the purposes of this specification and appended claims, unlessotherwise indicated, all numbers expressing quantities, percentages, orproportions, and other numerical values used in the specification andclaims, are to be understood as being modified in all instances by theterm “about,” to the extent they are not already so modified.Accordingly, unless indicated to the contrary, the numerical parametersset forth in the following specification and attached claims areapproximations that may vary depending upon the desired propertiessought to be obtained. At the very least, and not as an attempt to limitthe application of the doctrine of equivalents to the scope of theclaims, each numerical parameter should at least be construed in lightof the number of reported significant digits and by applying ordinaryrounding techniques.

It is noted that, as used in this specification and the appended claims,the singular forms “a,” “an,” and “the,” and any singular use of anyword, include plural referents unless expressly and unequivocallylimited to one referent. As used herein, the term “include” and itsgrammatical variants are intended to be non-limiting, such thatrecitation of items in a list is not to the exclusion of other likeitems that can be substituted or added to the listed items.

Further, this description's terminology is not intended to limit thedisclosure or claims. For example, spatially relative terms—such as“top”, “bottom”, “lower”, “above”, “below”, “upper”, “proximal”,“distal”, and the like—may be used to describe one element's orfeature's relationship to another element or feature as illustrated inthe orientation of the figures. These spatially relative terms areintended to encompass different positions (i.e., locations) andorientations (i.e., rotational placements) of a device in use oroperation in addition to the position and orientation shown in thefigures. For example, if a device in the figures is inverted, elementsdescribed as “below” or “beneath” other elements or features would thenbe “above” or “over” the other elements or features. Thus, the exemplaryterm “below” can encompass both positions and orientations of above andbelow. A device may be otherwise oriented (rotated 90 degrees or atother orientations) and the spatially relative descriptors used hereininterpreted accordingly. The relative proximal and distal directions ofsurgical instruments are labeled in the figures.

The present disclosure contemplates various surgical device sheaths,components of such sheaths, and methods of manufacturing such sheathsand associated components, systems, and methods of use. In accordancewith an exemplary embodiment of the present disclosure, an instrumentfor minimally invasive surgical procedures employs a removable (e.g.,replaceable) sheath to cover a shaft, wrist mechanism, and/or otherjoints and portions of the surgical instrument. The sheath may include aretention mechanism configured to engage with a corresponding (e.g.,complementary) sheath connector portion (also “sheath connectionportion”) of a surgical instrument. Through the engagement, theretention mechanism may be configured to lock the sheath to theinstrument to retain the sheath in position over at least a portion of amain shaft of the surgical instrument and/or at least a portion of awrist mechanism of the surgical instrument during use of the instrumentto perform a surgical procedure. The retention mechanism may beconfigured to facilitate manual placement and removal by an operator,such as a physician, nurse, and other operating room or hospitalpersonnel. For example, in some exemplary embodiments, the retentionmechanism may be configured to enable the sheath to be removed andinstalled with one hand.

In various exemplary embodiments, retention mechanisms may be configuredto lockably engage with a connector portion of the instrument to preventaxial movement of the sheath relative to the instrument such that thesheath is prevented from being removed from the instrument in theabsence of a force on the retention mechanism sufficient to unlock thesheath from engagement with the connector portion. Further, in variousexemplary embodiments, retention mechanisms of the present disclosuremay include anti-rotational features configured to prevent rotation ofthe sheath with respect to the surgical instrument when the sheath is inan assembled configuration (lockably engaged) on the surgicalinstrument. Such features may allow assembly of the sheath on thesurgical instrument in any rotational orientation, or in a limitednumber of rotational orientations, the latter of which thus also allowsthe features to serve as rotational alignment mechanisms. In someembodiments, the corresponding sheath connector structure of thesurgical instrument may not include any moving parts on the surgicalinstrument. Such an arrangement may enhance the reliability androbustness of the surgical instrument, and facilitate a user in assemblyof the sheath and instrument. For example, for a surgical instrumentthat is designed to be reusable, exemplary embodiments provide sheathretention and connection designs that minimize the risk of parts of theinstrument that relate to connection of the sheath failing and thusnegatively impacting the ability to reuse the instrument.

The present disclosure also contemplates exemplary embodiments that usematerials for the sheath, including the retention mechanism, that arerelatively inexpensive and permit manufacturing via extrusion and/ormolding, in addition to relatively inexpensive techniques to join thesheath sleeve body to the retention mechanism.

Although various exemplary embodiments described herein are discussedwith regard to surgical instruments used with a patient side cart of ateleoperated surgical system, the present disclosure is not limited touse with surgical instruments for a teleoperated surgical system. Forexample, various exemplary embodiments of sheaths for assembly withsurgical instruments described herein can be used in conjunction withhand-held, manual surgical instruments.

Referring now to FIG. 1, an exemplary embodiment of a patient side cart100 of a teleoperated surgical system is shown. A teleoperated surgicalsystem may further include a surgeon console (not shown) for receivinginput from a user to control instruments mounted at patient side cart100. A teleoperated surgical system also can optionally include anauxiliary control/vision cart (not shown), as described in, for example,U.S. Pub. No. US 2013/0325033 A1, entitled “Multi-Port Surgical RoboticSystem Architecture” and published on Dec. 5, 2013, U.S. Pub. No. US2013/0325031 A1, entitled “Redundant Axis and Degree of Freedom forHardware-Constrained Remote Center Robotic Manipulator” and published onDec. 5, 2013, and U.S. Pat. No. 8,852,208, entitled “Surgical SystemInstrument Mounting” and published on Oct. 7, 2014, each of which ishereby incorporated by reference in its entirety. Further, the exemplaryembodiments described herein may be used, for example, with a da Vinci®Surgical System, such as the da Vinci Si® Surgical System or the daVinci Xi® Surgical System, both with or without Single-Site® singleorifice surgery technology, all commercialized by Intuitive Surgical,Inc. However, those having ordinary skill in the art would appreciatethat other surgical systems are contemplated as being used inconjunction with the sheaths and surgical instruments of the presentdisclosure, including for example, controllers and processors in othercomponents of a surgical system, such as for example the patient sidecart and/or surgeon console, rather than as part of a separateauxiliary/control cart; control and processing architecture can also bedistributed between various components of the surgical system as thosehaving ordinary skill in the art would appreciate.

According to an exemplary embodiment, patient side cart 100 includes abase 102, a main column 104, and a main boom 106 connected to the maincolumn 104. The patient side cart 100 also includes a plurality ofteleoperated manipulator arms 110, 111, 112, 113 (sometimes referred toas patient side manipulators), which are each connected to the main boom106, as depicted in the exemplary embodiment of FIG. 1. Manipulator arms110, 111, 112, 113 may each include an instrument mount portion 120 towhich an instrument 130 may be mounted, which is illustrated as beingattached to manipulator arm 110. Portions of the manipulator arms 110,111, 112, 113 may be manipulated during a surgical procedure accordingto commands provided by a user at the surgeon console. In an exemplaryembodiment, signal(s) or input(s) transmitted from a surgeon console aretransmitted to the control/vision cart, which interprets the input(s)and generate command(s) or output(s) to be transmitted to the patientside cart 100 to cause manipulation of an instrument 130 (only one suchinstrument being mounted in FIG. 1) and/or portions of manipulator arm110 to which the instrument 130 is coupled at the patient side cart 100.

Instrument mount portion 120 may comprise an actuation interfaceassembly 122 and a cannula mount 124. A shaft 132 of instrument 130extends through cannula mount 124 and mounted cannula, and on to aremote site during a surgical procedure. A force transmission mechanism134 at a proximal end of instrument 130 is mechanically coupled with theactuation interface assembly 122, according to an exemplary embodiment.Persons skilled in the art are familiar with surgical instrument forcetransmission mechanisms, which receive a mechanical input force from asource (e.g., an electric motor on a manipulator arm supporting theinstrument) and convert and/or redirect the received force to an outputforce to drive a component (e.g., a wrist, an end effector, etc.) at arelatively distal end portion of the instrument. Cannula mount 124 maybe configured to hold a cannula 136 through which shaft 132 ofinstrument 130 may extend to a surgery site during a surgical procedure.Actuation interface assembly 122 may contain a variety of drive andother mechanisms that are controlled to respond to input commands at thesurgeon console and transmit forces to the force transmission mechanism134 to actuate instrument 130, as those skilled in the art are familiarwith.

Although the exemplary embodiment of FIG. 1 shows an instrument 130attached to only manipulator arm 110 for ease of illustration, aninstrument may be attached to any and each of manipulator arms 110, 111,112, 113. An instrument 130 may be a surgical instrument with an endeffector such as forceps or graspers, a needle driver, a scalpel,scissors, a stapler, a cauterizing tool, etc., or may be an endoscopicimaging instrument or other sensing instrument used during a surgicalprocedure to provide information, (e.g., visualization,electrophysiological activity, pressure, fluid flow, and/or other senseddata) of a remote surgical site. In the exemplary embodiment of FIG. 1,a surgical instrument with an end effector or a sensing instrument maybe attached to and used with any of manipulator arms 110, 111, 112, 113.However, the embodiments described herein are not limited to theexemplary embodiment of the patient side cart of FIG. 1 and variousother teleoperated surgical system configurations, including patientside cart configurations, may be used with the exemplary embodimentsdescribed herein.

FIG. 2 shows an exemplary embodiment of a surgical instrument 230 inmore detail. The surgical instrument 230 includes a shaft 233, a forcetransmission housing 234 disposed at a proximal end of the shaft 233,and an end effector 240 disposed at a distal end of the shaft 233. Theexemplary embodiment of FIG. 2 further illustrates an embodiment of asurgical instrument having a wrist mechanism 231 and an end effector240, which are the components of the instrument 230 that generally moveextensively during a medical procedure. In the illustrated embodiment,the wrist mechanism 231 includes a joint 232 that connects an extendedmember 235 to the shaft 233, and extended member 235 connects to amulti-member wrist 236 on which effector 240 is mounted. Joint 232 canhave two angular degrees of freedom for movement of member 235, which,as a result of the extended length of member 235, provides a significantrange of spatial motion for the wrist 236 and the end effector 240.Wrist 236 includes multiple vertebrae that may be independentlycontrolled to provide one or more degrees of freedom for moving andorienting end effector 240 during a medical procedure. The specifics ofwrist mechanism 231 are provided here merely as an illustration of onetype of wrist mechanism. Many other types of wrist mechanisms are knownand could be used with removable sheaths as described herein. Forexample, U.S. Pat. No. 6,817,974, entitled “Surgical tool havingPositively Positionable Tendon-Actuated Multi-Disk Wrist Joint,” toCooper et al. describes some known wrist mechanisms containing multipledisks and tendon controlled joints. In addition, those of ordinary skillin the art would appreciate that a surgical instrument can lack anywrist mechanism, with an end effector being couple directly to theshaft.

FIG. 2 also illustrates that shaft 233 may optionally include cleaningholes 222, which facilitate cleaning of the interior of the instrument230 between medical procedures. In some cases, such cleaning holes havethe drawback of creating flow paths for biological material or gas flowfrom a region of elevated pressure that may be maintained in a patientduring a medical procedure. However, in accordance with exemplaryembodiments of the disclosure, a replaceable sheath can be installed oninstrument 230 and seal cleaning holes 222 to help prevent penetrationof biological material or gas into the holes and to maintain a pressuredifferential during a medical procedure. Further, the sheath can beremoved between medical procedures to permit access to cleaning holes222 and other portions of the instrument when the instrument 230 iscleaned. Cleaning passages (not shown) also can be in wrist mechanism231, for example as holes, in extended member 234 and/or viainterstitial openings created by space between adjacent wrist structuresand/or where an end effector is coupled to the shaft. The sheath canalso seal wrist mechanism 231 but in case of contamination, can beremoved to permit cleaning of an instrument protected by the sheath. Ona camera instrument, which may be relatively large or have lowermechanical load requirements, the cleaning holes can be made large toenable easy cleaning, while the sheath reduces the amount of access thatbiomaterial has to the camera system during use. In some situations,instruments such as camera systems that are not generally in directcontact with biomaterial may not require a full seal.

Referring now to FIG. 3, an exemplary embodiment of a protective sheathconfigured to cover at least a portion of the shaft of a surgicalinstrument, such as instrument 130 (FIG. 1) or instrument 230 (FIG. 2),is illustrated. As a non-limiting example, the sheath 300 of FIG. 3 maybe similar in function, materials, and/or construction to the sheathsdescribed at least in U.S. Pat. No. 9,089,351 to Park et al., issuedJul. 28, 2015, entitled “Sheath for Surgical Instrument,” the disclosureof which is hereby incorporated by reference in its entirety. The sheath300 has a proximal end 302, which in various exemplary embodiments maybe disposed proximate a transmission housing when the protective sheath300 is assembled on a surgical instrument, and a distal end 304, whichmay be disposed proximate the end effector and/or wrist mechanism of asurgical instrument when the protective sheath 300 is assembled on theinstrument 130. Thus, in an exemplary embodiment, the sheath may extendto cover substantially the entire length of an instrument shaft from aproximal end transmission housing of the surgical instrument to an endeffector or a sensing element, such as an imaging capture device,allowing enough exposure of the end effector or instrument such that itis able to perform its intended function.

Although the sheaths of various disclosed exemplary embodiment areconfigured to lockably engage with a sheath connector portion of asurgical instrument that is disposed where the instrument shaft meetsthe transmission housing, those having ordinary skill in the art willappreciate that connector portions can be provided at other locationsalong the surgical instrument, including at locations along the shaftdistal to the transmission housing with appropriate modification.

The protective sheath 300 includes a retention mechanism 306 located ator near the proximal end 302. The retention mechanism 306 is configuredto interact with (e.g., engage) one or more corresponding (e.g.,complementary) features (not shown in FIG. 3) disposed on a portion of asurgical instrument to lockably engage and retain the sheath 300 in anassembled configuration on the instrument. While the retention mechanism306 is illustrated in FIG. 3 as attached to a sleeve 308 of the sheath300, the retention mechanism 306 may be or include one or more featuresformed in the sleeve 308 of the sheath 300, for example, as described ingreater detail below in connection with the exemplary embodiment ofFIGS. 10A and 10B.

The sheath sleeve in accordance with various exemplary embodimentsherein may be made of various relatively flexible and biocompatiblematerials that are selected to impart various properties as desired,including, dielectric materials, porous materials that allow gases topermeate the sheath sleeve wall while preventing passage of biomaterialsand liquid, relatively durable to protect against damage due to othersurgical instruments and structures rubbing against the sheath, etc.While the sheath sleeve can be made of a single material, the presentdisclosure also contemplates sheath sleeves made of different materials,such as differing layers of materials and/or materials having differingproperties along different length portions of the sleeve. In exemplaryembodiments, the various sheath tube/body structures and materials usedto make such structures disclosed U.S. Pat. No. 9,089,351 B2, issuedJul. 28, 2015 (entitled “SHEATH FOR SURGICAL INSTRUMENT”), incorporatedby reference herein, can be used to make the sheath sleeves of thepresent disclosure.

In some exemplary embodiments, such as those shown and described inconnection with FIGS. 4A through 9D, a sheath retention mechanismincludes one or more resilient portions configured to provide a lockableengagement with a complementary feature of the surgical instrument. Theresilient portions may comprise resilient deflection portions configuredto deflect as they move past the complementary feature of the instrumentas the sheath is fitted over the instrument, and to engage thecomplementary feature of the surgical instrument once the sheath 300 isassembled with the instrument.

Application of sufficient force to one or more force applicationsurfaces of the retention mechanism causes the resilient portions todeflect so as to disengage the retention mechanism from thecomplementary feature of the instrument, thereby enabling removal of thesheath from the instrument.

FIG. 4A shows an exemplary embodiment of a sheath 400 including aretention mechanism 402 configured to interact with a sheath connectorportion 413 of a surgical instrument 1030, which may have aconfiguration similar to surgical instrument 230 in FIG. 2, with theconnector portion being provided at the juncture between the instrumentshaft and a transmission housing (e.g., housing 234 in FIG. 2) in anexemplary embodiment. In the embodiment of FIG. 4A, the retentionmechanism 402 comprises a generally tubular-shaped retainer body 403affixed to a proximal end portion of a sheath sleeve 405. The retainerbody 403 has a sheath sleeve attachment portion 406 disposed at a distalend portion of the body 403. The sheath sleeve attachment portion 406 isconfigured to be affixed to the sleeve 405 of the sheath 400, as will bedescribed in further detail below. Extending proximally from the sheathsleeve attachment portion 406 is a locking collar 404 that defines aproximal end 408 of the retainer body 403. The locking collar 404comprises one or more resilient members 410. The resilient members 410may be integrally formed (e.g., molded) with the retainer body 403, asshown in FIG. 4A, or may comprise components of the retention mechanism402 formed separately from the retainer body 403.

The resilient members 410 are configured to lockably engage one or morecomplementary retention features 412 of the sheath connector portion 413of the instrument 1030 when the sheath 400 is in an assembledconfiguration on the instrument. In the depicted exemplary embodiment,the complementary retention feature 412 of the sheath connector portion413 includes a circumferentially disposed protrusion with a rampedportion 414, which may have a generally frustoconical surface profilewith an acute angle relative to a longitudinal axis of the instrumentshaft 1032. More specifically, the ramped portion 414 extends upwardlyand outwardly in a direction from distal to proximal along an axialdirection of the surgical instrument. In this way, as the surfaces ofthe resilient members 410 come into contact with the beginning of theramped portion 414 they are gradually spread apart by the ramped portion414 as a continued force is exerted on the retainer body 403 sliding itover the connector portion 413. Eventually, the resilient members 410move proximally past the complementary retention feature 412 and springback to their initial, undeformed configuration. A retaining surface 416of the retention feature 412, is disposed substantially orthogonal tothe longitudinal axis of the shaft 1032 and provides a shoulder thatprevents axial downward movement of the sheath in an assembledconfiguration of the sheath on the instrument by interaction with theresilient members 410. In other words, in their undeformedconfiguration, the resilient members come into contact with the shoulderprovided by the surface 416 to prevent the axial movement in a distaldirection of the retention mechanism 402, and thus the sheath.

Those having ordinary skill in the art would appreciate that theretention feature 412 may be a continuous feature around thecircumference of the connector portion 413, or may be plural featuresdisposed in select locations around the circumference, which may assistin orienting the sheath in a desired rotational positioning relative tothe instrument.

The sheath 400 may be placed in the assembled configuration on theinstrument 1030 by advancing the locking collar 404 of the retainer body403 over the sheath connector portion 413 of the instrument 1030. As thelocking collar 404 is moved axially into engagement with the sheathconnector portion 413 of the surgical instrument (i.e., moving thelocking collar 404 in a proximal direction), the ramped portion 414 ofthe retention feature 412 come into contact with resilient members 410.Continued movement of the locking collar 404 proximally cause theresilient members 410 to be deflected laterally (e.g., radially)outwardly by the ramped portion 414. The deflection of the resilientmembers 410 radially outwardly allows the complementary retentionfeature 412 to pass between and move axially past the resilient members410.

As shown in FIG. 4B, once the resilient members 410 have cleared theramped portion 414 of the complementary retention feature 412, theresilient members 410 return to their initial, undeflected configurationand are positioned proximal to the retaining surface 416 of thecomplementary retention feature 412. Relatively rapid movement of theresilient members 410 as they return to their undeflected configurationand contact a portion of the sheath connector portion 413 of theinstrument 1030 may create an audible or tactile indication that thesheath 400 has fully engaged the sheath connector portion 413 of theinstrument 1030. For example, such an indication may include one or moreof an audible noise (e.g., a “click”), a low-frequency vibratory wavetraveling through the retention feature 412 that results in a tactilesensation in an operator, or the like. Due to the shoulder of theretaining surface 416, a mechanical interference between the retainingsurface 416 (FIG. 4A) of the complementary retention feature 412 and theone or more resilient members 410 retains (locks) the sheath 400 inposition over the shaft 1032 of the instrument 1030, preventing axialmovement and disassembly of the retaining mechanism 402 relative to thesurgical instrument absent a sufficient force acting on the instrumentor sheath retention mechanism 402.

Following use of the instrument 1030 and sheath 400, (e.g., in asurgical procedure), it may be necessary or desirable to remove thesheath 400 to clean (e.g., sterilize) the instrument 1030, for examplereprocessing it for reuse. Referring still to FIG. 4B, to remove thesheath 400 from the instrument 1030, a force 418 directed radiallyinwardly (e.g., a squeezing force) may be applied to the proximal end408 of the retainer body 403, for example, at locations on the proximalend 408 substantially ninety degrees apart from the resilient members410. For example, the retainer body 403 may be grasped (e.g., pinched)by an operator at force application surfaces 420, 422. Radially inwardlydirected force applied to the force application surfaces 420, 422 maycause portions of the proximal end 408 of the retainer body 403 locatedat and around the force application surfaces 420, 422 to deflect inwardtoward the sheath connector portion 413 of the instrument 130, while theresilient members 410 deflect away from sheath connector portion 413. Inother words, the lateral (e.g., radial) distance the resilient members410 may increase as the compressive force 418 is applied to the forceapplication surfaces 420, 422. The outward deflection of the resilientmembers 410 laterally (e.g., radially) beyond retention feature 412allows the resilient members 410 to clear the complementary retentionfeature 412, enabling the locking collar 404 to be disengaged (unlocked)from the connector portion 413 and the sheath 400 removed from theinstrument 1030 by moving the retention mechanism 402 and sheath sleevedistally relative to the instrument 1030.

In some exemplary embodiments, the resilient members 410 and/or otherportions of the retainer body 403 elastically deform under the force418. Additionally or alternatively, the resilient members 410 and/or theother portions of the retainer body 403 may plastically deform under theforce 418. In some embodiments, the sheath 400 may be disposed of aftera single use.

The retainer body 403 of the sheath 400 may be made from a resilientmaterial to facilitate deflection of the resilient members 410 and theforce application surfaces 420, 422. As non-limiting examples, theretainer body 403 is made from a thermoplastic such as nylon, polyetherblock amide (PEBAX), high-density polyethylene (HDPE), or otherpolymers. In some embodiments, the retainer body 403 is made of acomposite material, such as a fiber-reinforced polymer, and/or mayinclude non-polymer materials. The retainer body 403 may be made usingforming processes such as injection molding, casting, negativemanufacturing processes such as machining, and/or additive manufacturingprocesses such as fused deposition modeling, powder bed sintering, etc.In some embodiments, the retainer body 403 and the sheath sleeve 405 aremade of the same or similar materials so as to facilitate attachment ofthe retainer body 403 to the sheath sleeve 405. In one exemplaryembodiment, the retainer body 403 and the sheath sleeve 405 bothcomprise polyether block amide. However, the retainer body 403 and otherportions or components of the sheath 400 may include any materials thatexhibit suitable characteristics. For example, in some embodiments, amaterial may be chosen at least in part based on stiffness, elasticmodulus, or other mechanical characteristics that may be desired. As anon-limiting example, some suitable materials may exhibit an elasticmodulus ranging from about 500 MPa to about 5000 MPa. Other suitablematerials may include elastic moduli of less than about 500 MPa orgreater than about 5000 MPa, for example, while wall thicknesses areadjusted to compensate. In some embodiments, a material also may bechosen based on manufacturing characteristics, such as moldability,machinability, etc. Materials also may be chosen based at least in parton the cost of raw materials, the costs associated with manufacturingprocesses suitable in working with such materials, etc. In someembodiments, a relatively low-cost material may be desirable, e.g., fora sheath limited to a single use (i.e., disposable). Other materialselection criteria may include, without limitation, the ability of thematerial to withstand various sterilization processes withoutsignificant degradation (e.g., gamma sterilization, ethylene oxidesterilization, autoclave, e-beam sterilization, etc.); and thebiocompatibility of the material, such as, for example, being latexfree.

The retainer body 403 and the sheath sleeve 405 may be attached to oneanother by any suitable method. As a non-limiting example, the retainerbody 403 and the sheath sleeve 405 may be fused to one another by awelding process such as ultrasonic welding, laser welding, spin fusing,etc. In some exemplary embodiments, an adhesive may be used to affix theretainer body 403 to the sheath sleeve 405. In one exemplary embodiment,the retainer body 403 is affixed to the sheath sleeve 405 using one ormore spot welds. In some embodiments, the sheath sleeve 405 may beattached to the retainer body 403 with a mechanical attachment device,as described in greater detail below in connection with FIGS. 8A through8C.

The retainer body 403 may have a geometry configured to facilitatedeformation of the resilient members 410 for installation and removal ofthe sheath 400. For example, in the embodiment of FIGS. 4A and 4B, theretainer body 403 may have a cross-sectional shape that graduallytransitions from a circular interior transverse cross-section along thesheath sleeve attachment portion 406 to an elongated (e.g., oval orelliptical) interior transverse cross-section at the proximal end 408and locking collar 404. In an initial, undeformed state, the forceapplication surfaces 420, 422 may be oriented at opposite ends of amajor axis A_(ma) of the oval, while portions of the resilient members410 are positioned at opposite ends of a minor axis A_(mi) of the oval.When force is applied to the force application surfaces 420, 422, themajor axis A_(ma) shortens while the minor axis A_(mi) lengthens, andthe elongated cross-sectional shape of the proximal end 408 and lockingcollar, at least around the resilient members 410, deforms. In someembodiments, under deformation due to a force applied to the forceapplication surfaces 420, 422, the major and minor axis A_(ma), A_(mi)may become substantially equal and the cross-sectional shape of theretainer body 403 at the proximal end 408, including at least theresilient members 410 and proximate the force application surfaces 420,422, becomes substantially circular. Elongation of the minor axis A_(mi)by a sufficient amount results in the resilient members 410 deflectingradially outwardly by an amount sufficient to permit disengaging(unlocking) from the complementary retention feature 412 of theinstrument 1030.

The retainer body 403 may be configured such that the compressive force418 required to be applied to the force application surfaces 420, 422 todeform the resilient members 410 sufficiently to remove the sheath 400is below a certain threshold. For example, the retainer body 403 may beconfigured such that the force 418 required to be applied to the forceapplication surfaces 420, 422 to remove the sheath 400 is low enoughthat an operator (e.g., physician, nurse, etc.) can remove the sheath400 by applying force 418 manually, for example, with one hand. As anon-limiting example, the compressive force 418 required to be appliedto the force application surfaces 420, 422 may range from about 2pound-force (lb_(f)) to about 10 pound-force (lb_(f)), for example about4 pound-force (lb_(f)). However, the applied force required may behigher, for example, if tools designed to apply the force are usedinstead of the force being applied by a user's hand.

The magnitude of the compressive force 418 required to be applied to theforce application surfaces 420, 422 may depend at least partially on theproperties of the materials from which the retainer body 403 isconstructed. For example, a material with a relatively higher modulus ofelasticity may require a correspondingly higher force compared to amaterial with a relatively lower modulus of elasticity. Additionally,the geometry of the retainer body 403 may affect the magnitude of theforce 418 required to remove the sheath 400 from the instrument 1030.For example, relatively thicker walls of retainer body 403 andrelatively thicker resilient members 410 may require a relativelygreater force to remove the sheath 400 than relatively thinnercomponents.

The force application surfaces 420, 422 may include features configuredto facilitate manipulation by the operator. For example, the forceapplication surfaces 420, 422 may include features such as ridges 424,knurling, or other textures or features, to improve grip and/or toenable tactile recognition of force application surfaces 420, 422.

Additionally, the retainer body 403 may include reliefs configured toalter the magnitude of the compressive force 418 that results indeflecting the resilient members 410 to remove the sheath 400. Thereliefs may increase flexibility (e.g., elastic deformability) of thelocking collar 404 so as to concentrate stress in the resilient members410, resulting in greater deflection of the resilient members 410 for agiven applied force. Furthermore, the reliefs may relieve areas of thelocking collar 404 that may otherwise experience relatively high stress,which may cause plastic deformation, fractures, etc. in the lockingcollar 404. While the reliefs 426 shown in FIGS. 4A and 4B areconfigured as an “I” shape cut-out portion, configurations differentfrom that shown are contemplated. Aside from providing a cut-out portionof the wall of the locking collar, reliefs may be provided by otherweakening of the retainer body wall, such as by using a different and/orthinner material at certain locations around the circumference of thebody 403. Additionally, some embodiments may not include any reliefs.Such embodiments may include one or more radially inwardly extendingprotrusions or shoulders located at the proximal end 408 of the retainerbody 403 configured to interact with the complementary retention feature412 in substantially the same manner as the resilient members 410described above. For example, the retainer body 403 may include anundercut on an internal surface, a portion of which forms adistal-facing surface that interacts with a proximally-facing surface ofthe complementary retention feature 412.

Various exemplary embodiments also contemplate preventing rotation of asheath relative to the instrument once the sheath is in an assembledconfiguration on the instrument. For example, rotation of the sheathwith respect to the instrument shaft during use or transportation maycause the sheath 400 to rip, tear, or otherwise degrade. However, forease and speed of installation, it may be undesirable to require theoperator to align the sheath in a particular rotational alignment withrespect to the instrument.

Accordingly, FIG. 5 shows another embodiment of a retention mechanism500 according to an exemplary embodiment of the present disclosure.Functionality of the retention mechanism 500 may be similar in manyrespects to the functionality of the retention mechanism 402 describedin connection with FIGS. 4A and 4B. For clarity, shaft 1032 (FIG. 4A) ofinstrument 1030 (FIG. 4A) is omitted from the illustration in FIG. 5.The sheath retention mechanism 500 has an internal surface 502 of adistal portion of the locking collar 504 that includes a plurality oflongitudinally oriented and circumferentially spaced internal splines505. A sheath connector portion 513 of an instrument (not shown) mayhave an outer surface 508 with a plurality of longitudinally orientedand circumferentially spaced recesses 510 configured to interface withthe internal splines 505. When the sheath retention mechanism 500 isengaged with the sheath connector portion 513 of the instrument, theinternal splines 505 are received in the recesses 510 to align andprevent rotation of the sheath retention mechanism 500 relative to thesheath connector portion 513, and thus prevent rotation of the sheathrelative to the instrument in the assembled, locked configuration of theretention mechanism 500 on the connector portion 513.

In some embodiments, the internal splines 505 and the recesses 510 mayinclude features and/or geometry configured to facilitate self-aligningof the sheath retention mechanism 500 with the sheath connector portion506. For example, the internal splines 505 and/or the edges of theconnector portion between recesses 510 can have a rounded leading ends512. As the sheath retention mechanism 500 is slid into engagement withthe sheath connector portion 513, the rounded leading ends 512facilitate self-aligning of the internal splines 505 and the recesses510. Thus, the sheath retention mechanism 500 is configured toself-align with the sheath connector portion 513 with minimal or noexternal rotational forces by a user. The number of rotationalorientations at which the sheath retention mechanism 500 can beinstalled on the sheath connector portion 513 of the instrument 1030 maybe determined at least in part by the number and/or configuration of theinternal splines 505 and the recesses 510. For example, the pitch of theinternal splines 505 and the recesses 510 may determine the number ofrotational orientations in which the sheath retention mechanism 500 canbe installed on the sheath connector portion, a greater pitch resultingin more possible installed rotational orientations, and a lesser pitchresulting in fewer possible installed rotational orientations.

Additionally, in some embodiments, the sheath retention mechanism 500and the sheath connector portion 513 may include features configured torequire alignment of the sheath retention mechanism 500 with the sheathconnector portion 513 in one or more predetermined rotationalorientations. For example, one or more of the internal splines and acorresponding one or more of the recesses may have a different size,shape, and/or configuration than the remaining internal splines andrecesses, such that the one or more internal splines and thecorresponding one or more recesses having the different size, shape,and/or configuration must be rotationally aligned with one anotherbefore the sheath retention mechanism 500 can be fully installed on thesheath connector portion 513.

For example, as shown in FIG. 6, a sheath retention mechanism 5000includes a plurality of internal splines 5050, and a sheath connectorportion 5130 includes a plurality of recesses 5100. At least one recess5102 of the plurality of recesses 5100 has a different dimension (e.g.,a different circumferential width W around the sheath connector portion5130) than other recesses of the plurality of recesses 5100, and acorresponding at least one spline (not shown) of the plurality ofinternal splines 5050 has a circumferential width corresponding to thecircumferential width w of the at least one recess 5102. Thus, the atleast one recess 5102 must be aligned with the corresponding at leastone spline (not shown) before the sheath retention mechanism 5000 can befully installed on the sheath connector portion 5130. While theembodiment of FIG. 6 shows the at least one recess 5102 having a greaterwidth w than other recesses of the plurality of recesses 5100,additional or other dimensions or features of the at least one recess5102 may be altered with respect to the other recesses of the pluralityof recesses 5100. For example, one or more of a length, a depth (e.g.,radial dimension) or a shape of the at least one recess 5102 and thecorresponding at least one spline may be altered with respect to theother recesses of the plurality of recesses 5100 and splines of theplurality of internal splines 5050.

Some embodiments may include multiple splines and corresponding recesseshaving different dimensions than the other splines and recesses, whichmay be spaced around the circumference of the sheath retention mechanism5000 and the sheath connector portion 5130 to provide multiple possibleinstallation orientations. For example, two splines and correspondingrecesses having a different dimension than the other splines andrecesses may be spaced 180 degrees apart around the circumference of thesheath retention mechanism 5000 and the sheath connector portion 5130 toprovide two possible installation orientations, 180 degrees apart. Threesplines and corresponding recesses having a different dimension than theother splines and recesses may be spaced 120 degrees apart to providethree installation orientations 120 degrees apart, four splines andcorresponding recesses having a different dimension than the othersplines and recesses may be spaced 90 degrees apart to provide fourinstallation orientations 90 degrees apart, etc. Constraining therotational orientation of the sheath retention mechanism 5000 withrespect to the sheath connector portion 5130 may enable design and/ormaterial properties of the sheath to be tailored for a particularmovement or range of movements of an instrument shaft and/or endeffector of a surgical instrument to which the sheath is attached. Thosehaving ordinary skill in the art would appreciate that various otherconfigurations, arrangements, and numbers of splines and recesses may beused to achieve a desired engagement and/or rotational alignment.

FIGS. 7A and 7B show yet another exemplary embodiment of a sheathretention mechanism according to the present disclosure. The sheathretention mechanism 600 may be configured similarly to the exemplaryembodiment of FIGS. 4-5, with differences being described below. In thisembodiment, the sheath retention mechanism 600 includes a sheath sleeveattachment portion 606 with a substantially elongated (e.g., oval orelliptical) interior transverse cross-sectional shape, as shown in FIG.7A, so as to be configured to receive a similarly shaped sheath sleeveof elongated cross-section (e.g., oval or elliptical) (not shown))configured to cover an instrument shaft having an elongated (e.g., ovalor elliptical) outer transverse cross-sectional shape, such asinstrument shaft 632 partially depicted in FIG. 7C. The cross-sectionalshape of the sheath retention mechanism 600 may gradually transitionfrom the oval shape of sheath sleeve attachment portion 603 to asubstantially circular interior transverse cross-sectional shape at thelocking collar 604 including the proximal end, as shown in FIG. 7A. Asin the embodiments of FIGS. 4 and 5, oppositely disposed resilientmembers 610 and oppositely disposed force application surfaces 620, 622are provided at the proximal end of the locking collar 604, with theresilient members 610 being offset ninety degrees from the respectiveforce application surfaces 620, 622.

With reference now to FIG. 7C, the sheath retention mechanism 600 andassociated sheath sleeve (not shown) may be installed on an instrumentwith a sheath connector portion 613 and instrument shaft 632. The sheathconnector portion 613 may have a shape corresponding to the shape of thecross-section and opening of the sheath sleeve attachment portion 606 ofthe sheath retention mechanism 600, such as, for example, oval orelliptical. The sheath connector portion 613 may include a complementaryretention feature such as plurality of protrusions 614. For example, asshown in FIG. 7C, the sheath connector portion 613 may include twoprotrusions 614 located at opposite ends of a major axis of the ovalshape of the connector portion 613. The sheath may be installed on theinstrument by guiding the sheath retention mechanism 600 and sleeve overthe distal end of the instrument (not shown) and advancing the sheathretention mechanism 600 and sheath sleeve along the instrument shaft 632and over the sheath connector portion 613. As the locking collar 604 ofthe sheath retention mechanism 600 contacts the elliptical (oroval-shaped) sheath connector portion 612, the gradual transitionbetween the circular cross section of the opening of the locking collar604 and the oval cross section of sheath sleeve attachment portion 606orients the retention mechanism 600 into alignment with the elliptical(or oval-shaped) sheath connector portion 612 and shaft 632 of thesurgical instrument in one of two orientations (e.g., such that themajor axes of the sheath attachment portion 606 is aligned with themajor axis of the sheath connector portion 613 and shaft 632 in a firstorientation, or in a second orientation rotated 180 degrees from thefirst orientation).

In a manner similar to the exemplary embodiments of FIGS. 3-5 discussedabove, with the continued advancement of the sheath proximally relativeto the instrument, the resilient members 610 of the sheath retentionmechanism 600 deflect laterally (e.g., radially) outward as they comeinto contact the distally positioned ramped surface of the protrusions614 of the sheath connector portion 612, allowing them to providesufficient clearance to move proximally past the protrusions 614. Due totheir resiliency, once they are past the protrusions 614, the resilientmembers 610 return to their initial position (i.e., return to anundeformed configuration), as shown in FIG. 7D. In the assembledconfiguration of the retention mechanism 600 over the sheath connectorportion 613 shown in FIG. 7D, the interference between the protrusion614 and the resilient members 610 prevent the retention mechanism 600and sheath from moving axially relative to the instrument and thus locksthe sheath in position on the instrument shaft 632. The protrusions 614can have a surface similar to that described above with respect to theretention features of the exemplary embodiments of FIGS. 3-5 to providean interference of the resilient members 610 and the protrusions 614,thereby preventing the retention mechanism 600 and sheath sleeveattached thereto from being removed axially relative to the instrument.

To remove the sheath retention mechanism 600 and sheath from theinstrument, a laterally (e.g., radially) inwardly directed force 618 isapplied to the force application surfaces 620, 622, causing the lockingcollar 604, at least at the proximal end portion including the resilientmembers 610 of the sheath retention mechanism 600, to deform from itscircular cross-sectional shape into an elongated (e.g., oval orelliptical) cross-sectional shape, thereby increasing the distancebetween the resilient members 610. Under sufficient applied force 618,the distance between the resilient members 610 increases so as todisengage (unlock) from the protrusions 614, and provide sufficientclearance to move the retention mechanism 600 distally past theprotrusions 614. The sheath retention mechanism 600 can then bedisengaged from the sheath connector portion 613 and the sheath removedfrom the instrument.

In yet another exemplary embodiment, a sheath retention mechanism may beconfigured to provide a mechanical attachment to the sheath sleeve, asopposed to a thermal fusing or adhesive bond. In some instances, thesleeve of a sheath may be difficult or impossible to fuse or bond to theretention mechanism of the sheath, due to material properties of thesheath sleeve, the retention mechanism, or both. For example, in someembodiments, the sheath sleeve may be made of a material, such aspolytetrafluoroethylene (PTFE), which may not readily weld or otherwisebond to other materials from which the retention mechanism is likely tobe made. Accordingly, the sheath sleeve of the sheath and the retentionmechanism may be attached together using mechanical attachmentcomponents, as described below.

With reference now to the exemplary embodiment of FIG. 8A, a sheath 700includes a sheath sleeve 702 and a retention mechanism that has an outerretention mechanism part 703 and an inner retention mechanism part 707.The outer retention mechanism part 703 can be configured similar to theretention mechanism embodiments of FIGS. 3-6, with the exception ofincluding an engagement feature for attachment to the inner retentionmechanism part 707, as described below. For example, the outer retentionmechanism part 703 is configured to receive a proximal portion of asheath sleeve 702, and has a sheath sleeve attachment portion 706 and alocking collar 704 that extends from the sheath sleeve attachmentportion 706. The inner retention mechanism part 707 is configured to beinserted within the proximal end portion 708 of the sheath sleeve 702,as shown in FIGS. 8B and 8C. The outer retention mechanism part 703 andthe inner retention mechanism part 707 include interlocking featuresconfigured to mechanically couple the inner retention mechanism part 707to the outer retention mechanism part 703, capturing the proximal endportion 708 of the sheath sleeve 702 therebetween. For example, theinner retention mechanism part 707 may include deflectable retainingtabs 709 configured to engage with the distal end 712 of the sheathsleeve attachment portion 706 of the outer retention mechanism part 703.

Referring now to FIG. 8C, the outer retention mechanism part 703 can bepositioned over the proximal end portion 708 of the sheath sleeve 702and over the inner retention mechanism part 707 positioned within theproximal end portion 708 of the sleeve 702 (FIG. 8B). As can be seen inFIG. 8A, the proximal end portion 708 includes longitudinally orientedcutout portions 711 in a side wall of the sleeve, positioned andconfigured to receive the deflection tabs 710 of the inner retentionmechanism part 707. In the exemplary embodiment of FIGS. 8A-8C, thereare two deflectable retaining tabs 709 disposed opposite each otheraround the inner retention mechanism part 707 and two cutout portions711 disposed opposite each other around the proximal end portion 708 ofthe sleeve 702. However, those of ordinary skill in the art wouldappreciate that the present disclosure is not limited to the use of twodeflectable retaining tabs and any number including one or more than twocould be used.

The retaining tabs 709 on the inner retention mechanism part 707 deflectinwardly as the sleeve attachment portion 706 of the outer retentionmechanism part 703 is brought over the proximal end portion 708 of thesleeve 702 and into engagement with radially outwardly extendingprotrusions 7091 on the end of the tabs 709. When the outer retentionmechanism part 703 reaches its final position, shown in FIG. 8C, thedistal end 712 of the sleeve attachment portion 706 comes to rest justabove the end of the cutout portions 711, allowing radially outwardlyextending protrusions 7091 to be released from contact with the innersurface of the sleeve attachment portion 706, thereby returning thedeflectable retaining tabs 709 to their initial configuration withprotrusions 7091 extending through the cutout portions 711 and providinga surface to prevent distal axial movement of the outer retentionmechanism part 703 (see FIG. 8C). Mechanical interaction (e.g., aclamping force) acting on the sheath sleeve 702 by the inner retentionmechanism part 707 and the outer retention mechanism part 703 thussecures the sleeve 702 to the retention mechanism.

Another exemplary embodiment of a sheath and instrument sheath connectorportion is shown in FIGS. 9A through 9D. As shown in FIG. 9A, the sheath900 has a proximal end portion 902 with a retention mechanism 903secured thereto. The retention mechanism includes a sheath sleeveattachment portion 906 and a locking collar 904 having longitudinallyextending reliefs 907, such as cut-outs or regions of weakened orthinner material extending generally axially so as to separate thelocking collar 904 into deflectable segments 910. At the free end of thelocking collar, the deflectable segments 910 terminate in an annular,outwardly extending protrusions (which can be in the shape of barbs) 912with a ramped leading end, the surface of which tapers inwardly in aproximal to distal direction of the sheath.

Referring now to FIG. 9B, the sheath 900 may be placed in an assembledconfiguration with a sheath connector portion 914 of an instrument. Thesheath connector portion 914 includes an inner collar 916 and an outercollar 918 biased to a distal position (e.g., the position shown in FIG.9B) by a biasing element (e.g., a coil spring) 921. Spherical biasedretainer members 920 (e.g., ball bearings) are trapped within throughholes 917 that extend through a lateral sidewall of the inner collar 916as a result of an inner surface of the outer collar 918 closing theouter surface openings of the through holes when the outer collar 918 isin the locking position depicted in FIG. 9C. With reference to FIG. 9B,as the sheath retention mechanism 903 is inserted into the inner collar916, the segments 908 of the locking collar 904 deflect radially inwardas the leading ends of the protrusions 912 bear against the retainermembers 920. As shown in FIG. 9C, once the protrusions 912 moveproximally past the retainer members 920, the segments 908 return to theinitial, undeflected position. As shown in FIG. 9C, in the assembled(locked) configuration of the sheath on the instrument shaft 932, thedistal facing surface of the protrusions 912 forms a shoulder thatengage with the retainer members 920 to prevent the sheath 900 frombeing moved distally and removed from the sheath connector device 914.

Now referring to FIG. 9D, the sheath 900 may be unlocked and removedfrom the sheath connector device 914, and thus the instrument shaft 932,by moving the outer collar 918 axially and proximally with respect tothe inner collar 916 and against a biasing force of the biasing element921 until an annular relief 924 on an inner surface of the outer collar918 aligns with the retaining members 920. The retaining members 920 maythus be allowed to move radially outward to be at least partiallyreceived into the reliefs 924 of the outer collar 918, allowing thelocking collar 904 and protrusions 912 to move distally past theretaining members 920 and the sheath 900 to be removed from the sheathconnector device 914 and the instrument.

Referring now to FIG. 10A, another exemplary embodiment of a sheath 1000and a corresponding sheath connector portion 1113 of an instrument 1130is shown, with the sheath being a tubular sleeve having featuresconfigured to be engaged with the sheath connector portion 1113 of theinstrument. The sheath 1000 includes a proximal end portion 1002 withfemale features 1004, such as holes, recesses, or other negative relieffeatures on the lateral wall and at least through an outer surface, aplurality of which may be circumferentially spaced around a perimeter ofthe proximal end portion 1002. The sheath connector portion 1113 of theinstrument may be positioned at a junction where the instrument shaft1132 connects to the instrument transmission housing 1106. The sheathconnector portion 1113 can comprise an inner collar 1115 configured tobe received within the proximal end portion 1002 of the sheath 1000. Theinner collar 1115 includes one or more male features 1114, such as, forexample barbs or other similar protrusions, extending radially outwardlyfrom an outer surface of the inner collar 1115. The male features 1114are positioned and configured to fit within female features 1004 of thesheath 1000. The sheath connector portion 1113 further comprises anouter collar 1112 biased in a distal position by a biasing device 1116,such as, for example, a compression spring, or other biasing element.The collar 1112 is positioned to at least partially cover the malefeatures 1114 when the biasing device 1116 is in an extended positionforcing the collar 1112 in the distal position shown in FIG. 10B.

To install the sheath 1000, the collar 1112 is retracted in a proximaldirection relative to the instrument, e.g., toward the instrumenttransmission housing 1106. In this position of the collar 1112, thesheath 1000 can be slid over the male features 1114 and can be rotated,if needed, until the holes 1004 are aligned with and receive one or moreof the male features 1114, respectively. Releasing the collar 1112 thenmoves the collar 1112 over the male features 1114 to lock the connectorportion 1113 and sheath 1000 together and to protect againstdisengagement of the male features 1114 with the sheath. In this way,the sheath 1000 is assembled to the instrument and prevented from beingmoved laterally and axially relative to the instrument shaft 1032.

In various exemplary embodiments described and shown herein, the sheathconnector portion of the instruments are positioned at a juncture wherethe instrument shaft extends from a transmission housing, therebyallowing the sheath sleeve to extend substantially the entire length ofthe instrument shaft. However, the present disclosure contemplatespositioning a sheath connector portion at other locations along theinstrument shaft, in which configurations, the sheath would not extendto cover the entire length of the instrument shaft.

Further, in various exemplary embodiments that rely on an engagement ofcomplementary retention features provided on the sheath and/or on theinstrument, those of ordinary skill in the art would appreciate thatmodifications to the number and arrangement of those features may bealtered as desired, for example, based on factors including, but notlimited to, ease of installation of a sheath on an instrument, ease ofmanufacturing, desired retention forces tending to prevent rotationand/or axial movement of the sheath relative to an instrument in theassembled configuration, etc. By way of example, various exemplaryembodiments include complementary and engageable male and femalefeatures. Persons having ordinary skill in the art would appreciate thatthe locations of the male and female features could be reversed on thevarious components with appropriate modification without departing fromthe scope of the present disclosure.

Further modifications and alternative embodiments will be apparent tothose of ordinary skill in the art in view of the disclosure herein. Forexample, the devices, systems, and methods may include additionalcomponents or steps that were omitted from the diagrams and descriptionfor clarity of operation. Accordingly, this description is to beconstrued as illustrative only and is for the purpose of teaching thoseskilled in the art the general manner of carrying out the presentdisclosure. It is to be understood that the various embodiments shownand described herein are to be taken as exemplary. Elements andmaterials, and arrangements of those elements and materials, may besubstituted for those illustrated and described herein, parts andprocesses may be reversed, and certain features of the present teachingsmay be utilized independently, all as would be apparent to one skilledin the art after having the benefit of the description herein. Changesmay be made in the elements described herein without departing from thescope of the present disclosure and following claims.

It is to be understood that the particular examples and embodiments setforth herein are non-limiting, and modifications to structure,dimensions, materials, and methodologies may be made without departingfrom the scope of the present disclosure.

Other embodiments in accordance with the present disclosure will beapparent to those skilled in the art from consideration of thespecification and practice of the invention disclosed herein. It isintended that the specification and examples be considered as exemplaryonly, with being entitled to their full breadth of scope, includingequivalents by the following claims.

1.-23. (canceled)
 24. A sheath for a surgical instrument, the sheathcomprising: a sleeve having a distal end and a proximal end; and aretention mechanism at a proximal end portion of the sleeve, theretention mechanism comprising: a sleeve attachment portion configuredto be attached to the sleeve at the proximal end portion; and a lockingcollar extending from the sleeve attachment portion, wherein the lockingcollar is configured to receive a connector portion of a surgicalinstrument, and wherein the locking collar comprises a locking featuremovable between a first configuration, in which the sheath is moveablerelative to the surgical instrument, and a second configuration, inwhich the locking feature is configured to engage with the connectorportion to retain the sheath in position on the surgical instrument. 25.The sheath of claim 24, wherein the locking collar is configured toresiliently deform to move the locking feature between the firstconfiguration and the second configuration in response to a force actingon the locking collar.
 26. The sheath of claim 25, wherein the lockingcollar has one of a circular interior transverse cross-section and anelongated interior transverse cross-section in the first configurationand the other of the circular interior transverse cross-section and theelongated interior transverse cross-section in the second configuration.27. The sheath of claim 24, wherein a laterally inward directed force ona portion of the locking collar places the locking feature in the secondconfiguration.
 28. The sheath of claim 27, wherein the locking collarcomprises force application surfaces positioned at opposite lateralsides of the locking collar at a proximal end portion of the retentionmechanism.
 29. The sheath of claim 24, wherein the sleeve has one of acircular interior transverse cross-section and an elongated interiortransverse cross-section.
 30. The sheath of claim 24, wherein thelocking collar comprises oppositely disposed resilient portionsconfigured to deflect laterally outwardly when the locking feature is inthe first configuration.
 31. The sheath of claim 24, wherein theretention mechanism further comprises one or more longitudinallyextending splines on an inner surface of the sleeve attachment portion,the one or more longitudinally extending splines configured to interactwith one or more complementary features of the sheath connector portionin an assembled configuration of the sheath on the surgical instrumentto prevent rotation of the sheath relative to the surgical instrument.32. The sheath of claim 24, wherein in the second configuration, thelocking feature is configured to engage with the connector portion toprevent axial movement of the sheath relative to the surgicalinstrument.
 33. A surgical instrument sheath assembly comprising: asurgical instrument comprising an instrument shaft and a sheathconnector portion, the instrument shaft having a distal end configuredto be introduced to a remote surgical site; a sheath sleeve configuredto at least partially cover a shaft of a surgical instrument; and asheath sleeve retention mechanism located at a proximal end portion ofthe sheath sleeve, wherein at least one of the sheath sleeve retentionmechanism and the sheath connector portion comprises a locking featurewith a resiliently deformable portion, the locking feature having afirst configuration allowing the sheath to be moved relative to theinstrument and a second configuration engageably locking the sheath tothe connector portion to retain the sheath sleeve in a position to atleast partially cover the instrument shaft.
 34. The surgical instrumentsheath assembly of claim 33 wherein the retention mechanism is locatedat a proximal end portion of the sheath sleeve, a distal end of thesheath sleeve being configured to be positioned proximate the distal endof the instrument shaft.
 35. The surgical instrument sheath assembly ofclaim 34, wherein the retention mechanism is attached to the proximalend portion of the sheath sleeve.
 36. The surgical instrument sheathassembly of claim 35, wherein the retention mechanism is bonded or fusedto the proximal end portion of the sheath sleeve.
 37. The surgicalinstrument sheath assembly of claim 35, wherein the retention mechanismis mechanically fastened to the proximal end portion of the sheathsleeve.
 38. The surgical instrument sheath assembly of claim 37, whereinthe retention mechanism comprises an inner retention mechanism part andan outer retention mechanism part configured to clamp the proximal endportion of the sheath sleeve between the inner and outer retentionmechanism parts.
 39. The surgical instrument sheath assembly of claim34, wherein the retention mechanism comprises retention features formedin the sheath sleeve.
 40. The surgical instrument sheath assembly ofclaim 39, wherein: the retention features are configured to engage withcomplementary retention features of the sheath connector portion. 41.The surgical instrument sheath assembly of claim 40, wherein theretention features formed in the sheath sleeve are female features andthe complementary retention features of the sheath connector portion aremale features configured to be received by the female features.
 42. Thesurgical instrument sheath assembly of claim 33, wherein the sheathconnector portion comprises a protrusion with a ramped outer surfaceprofile configured to deflect the resiliently deformable portion of thelocking feature around the protrusion as the sheath sleeve retentionmechanism is moved over the sheath connector portion into an assembledconfiguration of the sheath with the instrument.
 43. The surgicalinstrument sheath assembly of claim 42, wherein the protrusion defines ashoulder configured to abut the resiliently deformable portion in thesecond configuration in the assembled configuration of the sheath withthe instrument.